Analysis of End-Effector position and orientation for 2P-3R Planer Pneumatic Robotic Arm

Author

Mehmood, N. ; Ijaz, F. ; Murtaza, Zain ; Ali Shah, Syed Irtiza

Author_Institution

Dept. of Robot. & Intell. Machine Eng., Nat. Univ. of Sci. & Technol., Islamabad, Pakistan

fYear

2014

fDate

22-24 April 2014

Firstpage

47

Lastpage

50

Abstract

In order to control a Robotic arm it involves study of kinematics and dynamics. In this paper we study forward kinematics of Planer Pneumatic Robotic Arm with two prismatic and three revolute (2P-3R) joints. Forward kinematics involves computing End Effector orientation and position provided with a set of joint angles. In this paper we used Denavit Hartenberg D-H to model links and joints of the Robotic arm. Because of simplicity of design and control, reliability and safety Pneumatic robotic arm is very commonly used in industries for part handling and pick and place purpose and it is also used in laboratory for training purposes.

Keywords

dexterous manipulators; end effectors; manipulator kinematics; position control; 2P-3R planer pneumatic robotic arm; Denavit-Hartenberg model; end-effector orientation; end-effector position; forward kinematics; part handling; pick-and-place purpose; pneumatic robotic arm; prismatic joints; revolute joints; training purposes; End effectors; Joints; Kinematics; Pneumatic systems; Robot kinematics; Robot sensing systems; Degree of Freedom; Forward Kinematics; Robotic Arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on

Conference_Location

Islamabad

Print_ISBN

978-1-4799-5131-4

Type

conf

DOI

10.1109/iCREATE.2014.6828337

Filename

6828337